CN106794020B - Extraction device for extracting foreign bodies from patients - Google Patents
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- A61B17/29—Forceps for use in minimally invasive surgery
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Abstract
Description
背景技术Background technique
肾中、或肾下方的输尿管的起点处结石的存在是诸如疼痛、出血和感染的问题或症状的源头,并且其还造成尿液流被阻塞的风险,最终丧失肾功能并且接着肾破坏。因此需要清除这些结石。实际上,如果不提供治疗,患者将继续存在这些问题,或者将看到它们复发,并且将患上并发症。The presence of stones in the kidney, or at the beginning of the ureter below the kidney, is a source of problems or symptoms such as pain, bleeding and infection, and it also poses a risk of obstruction of urine flow, eventual loss of kidney function and subsequent kidney destruction. Therefore these stones need to be removed. In fact, if treatment is not provided, patients will continue to have these problems, or will see them recur, and will suffer from complications.
存在各种治疗方法。技术的选择主要取决于结石的大小、位置和硬度。一般而言,针对测得超过1cm的结石,建议经皮肾镜取石术。Various treatments exist. The choice of technique depends primarily on the size, location, and hardness of the stone. Generally speaking, percutaneous nephrolithotomy is recommended for stones measuring more than 1 cm.
经皮肾镜取石术涉及到使肾镜、碎石器和取石器通过背部的皮肤和壁直接通入肾中,使用该肾镜可以看到该或这些结石,该碎石器允许使该或这些结石碎裂,该取石器允许捕获并且从患者中提取这些结石。Percutaneous nephrolithotomy involves passing a nephrolithotomy through the skin and wall of the back directly into the kidney, allowing the stone or stones to be visualized and allowing the stone or stones to be removed. These stones are fragmented and the stone retrieval tool allows the capture and extraction of these stones from the patient.
发明内容Contents of the invention
本披露涉及一种可以在必须使用刚性肾镜的情形中和还有在柔性肾镜更合适的情形中使用的器械。The present disclosure relates to an instrument that can be used in situations where rigid nephroscopes must be used and also in situations where flexible nephroscopes are more suitable.
根据本发明的实施例,这种器械可以是可逆的,也就是说在其已经在其柔性构型下使用之后其可以在其刚性构型下再次使用,反之亦然。According to an embodiment of the invention, such an instrument may be reversible, that is to say it may be used again in its rigid configuration after it has been used in its flexible configuration, and vice versa.
披露了一种用于从患者中提取异物的提取装置,这个装置具有:An extraction device for extracting a foreign body from a patient is disclosed, the device having:
●由柔性护套、安排在所述柔性护套中的传动管心针、手柄、以及连接到所述传动管心针的远端的工具形成的柔性提取器,所述传动管心针的近侧区固定到该手柄上;A flexible extractor formed by a flexible sheath, a drive stylet arranged in said flexible sheath, a handle, and a tool connected to the distal end of said drive stylet, the proximal end of said drive stylet a side zone is secured to the handle;
●具有刚性管的加强装置,该柔性提取器的该柔性护套能够放置在该刚性管中;以及a reinforcement device with a rigid tube in which the flexible sheath of the flexible extractor can be placed; and
●用于将该柔性提取器连接到所述加强装置的连接用具。• Connection means for connecting the flexible extractor to said strengthening device.
还披露了一种加强装置,该加强装置旨在与柔性提取器协作,这个加强装置具有能够接纳所述柔性提取器的一部分的刚性管、和用于将所述加强装置连接到所述柔性提取器上的连接用具。Also disclosed is a strengthening device intended to cooperate with a flexible extractor, this strengthening device having a rigid tube capable of receiving a portion of said flexible extractor, and for connecting said strengthening device to said flexible extractor. connector on the device.
根据本披露,外科医师可以在两种不同构型下以常规方式使用该装置。在第一构型下,该装置可以用于刚性肾镜中。实际上,外科医生通常以使用这种类型的肾镜清除最大的结石开始。在其刚性构型下,这些刚性肾镜长度一般较短,与根据本发明的装置一样。由于这个原因,外科医生可以使用这个装置以他使用常规刚性肾镜习惯的方式进行工作。According to the present disclosure, the surgeon can use the device in a conventional manner in two different configurations. In a first configuration, the device may be used in a rigid nephroscope. In fact, surgeons usually begin by removing the largest stones with this type of nephroscope. In their rigid configuration, these rigid nephroscopes are generally shorter in length, as are the devices according to the invention. For this reason, the surgeon can use this device to work in the way he is accustomed to with conventional rigid nephroscopes.
在第二阶段中,如果外科医生想要使用柔性装置,特别是为了探测肾的其他肾盏和/或从其中清除结石或结石碎块,根剧本发明的装置可以变形成柔性提取器。将注意,柔性肾镜常规地具有比刚性肾镜更大的长度。在一个实施例中,遵守这个特征,使得外科医生还将能够在使用处于与柔性肾镜相对应的构型下的所披露装置时以常规方式进行工作。In a second stage, the inventive device can be transformed into a flexible extractor if the surgeon wants to use a flexible device, especially for probing and/or removing stones or stone fragments from the other calyces of the kidney. It will be noted that flexible nephroscopes conventionally have a greater length than rigid nephroscopes. In one embodiment, this feature is observed so that the surgeon will also be able to work in a conventional manner while using the disclosed device in a configuration corresponding to a flexible nephroscope.
根据本披露,外科医生将能够使用取决于片刻需要可以是柔性或刚性的单个装置。而且,他将能够将这个装置与常规器具一起使用,而不必将这些进行适配。外科医生还将能够以与他习惯的装置相同的方式使用这个装置,这避免了对学习新手法的需要并且降低了伴随性风险。According to the present disclosure, the surgeon will be able to use a single device that can be flexible or rigid depending on the needs of the moment. Moreover, he will be able to use this device with conventional appliances without having to adapt these. The surgeon will also be able to use this device in the same manner as the ones he is used to, which avoids the need to learn new techniques and reduces the attendant risks.
附图说明Description of drawings
参照具体实施例的详细说明并且参照附图将更好地理解本发明及其优点,在附图中:The invention and its advantages will be better understood with reference to the detailed description of specific embodiments and with reference to the accompanying drawings, in which:
-图1是根据一个实施例的柔性提取器的透视图;- Figure 1 is a perspective view of a flexible extractor according to one embodiment;
-图2示出了根据一个实施例的加强装置;- Figure 2 shows a reinforcement device according to an embodiment;
-图3是根据一个实施例的提取装置的透视图;- Figure 3 is a perspective view of an extraction device according to an embodiment;
-图4示出了根据一个实施例的元件的细节;并且- Figure 4 shows details of elements according to an embodiment; and
-图5是示出了根据一个实施例的装置的另一细节。- Figure 5 shows another detail of the device according to one embodiment.
具体实施方式Detailed ways
参照附图,披露了一种用于从患者中提取异物的提取装置10,特别是用于从患者身体中提取结石的提取装置。这个提取装置实质上由两个元件、即柔性提取器11和加强装置12组成。根据本发明的提取装置10此外具有用于将柔性提取器11连接至所述加强装置12的连接用具13。Referring to the accompanying drawings, there is disclosed an extraction device 10 for extracting foreign matter from a patient, especially an extraction device for extracting stones from a patient's body. This extraction device essentially consists of two elements, the flexible extractor 11 and the reinforcement means 12 . The extraction device 10 according to the invention also has connection means 13 for connecting the flexible extractor 11 to the stiffening device 12 .
柔性提取器11具有刚性地连接至手柄15的柔性护套14、和也刚性地连接至手柄15的传动管心针16。传动管心针16是柔性的并且在柔性护套14中滑动。The flexible extractor 11 has a flexible sheath 14 rigidly connected to the handle 15 , and a drive stylet 16 also rigidly connected to the handle 15 . The drive stylet 16 is flexible and slides within the flexible sheath 14 .
手柄15具有基本上类似于U的形状并且具有远侧部分17和近侧部分18,柔性护套14固定至该远侧部分,传动管心针16固定至该近侧部分。手柄的远侧部分17和近侧部分18可以相对于彼此移动。根据一个实施例,借助于制成这个手柄的材料的弹性实现手柄的两个部分的相对移动。这种材料可以有利地是聚合物,诸如聚酰胺、POM(聚甲醛)、聚碳酸酯或ABS(丙烯腈丁二烯苯乙烯)。也可以使用其他合适的材料。明显可以使用其他装配方法,例如,该U形件的下部中的铰链将手柄的远侧部分17与近侧部分18相连接的装配。这种装配方法还准许手柄的远侧部分与近侧部分的相对移动。可以使用该手柄的许多变体,例如,带有注射器式推进器的手柄。The handle 15 has a substantially U-like shape and has a distal portion 17 to which the flexible sheath 14 is secured and a proximal portion 18 to which the drive stylet 16 is secured. The distal part 17 and the proximal part 18 of the handle are movable relative to each other. According to one embodiment, the relative movement of the two parts of the handle is achieved by means of the elasticity of the material from which this handle is made. This material may advantageously be a polymer such as polyamide, POM (polyoxymethylene), polycarbonate or ABS (acrylonitrile butadiene styrene). Other suitable materials may also be used. Obviously other assembly methods can be used, for example an assembly in which a hinge in the lower part of the U-shaped piece connects the distal part 17 with the proximal part 18 of the handle. This method of assembly also permits relative movement of the distal and proximal portions of the handle. Many variations of this handle can be used, for example, a handle with a syringe-style pusher.
传动管心针16在其远离手柄15的远端刚性地连接至工具(未示出)。根据一个实施例,该工具可以是取石器,从而允许抓住结石并将其从患者的身体中提取出来。取决于应用,明显可以使用其他工具。Drive stylet 16 is rigidly connected at its distal end away from handle 15 to a tool (not shown). According to one embodiment, the tool may be a lithotrix, allowing the stone to be grasped and extracted from the patient's body. Depending on the application, other tools can obviously be used.
传动管心针16可以采用两个极端位置,即缩回位置和工作位置,在该缩回位置上,传动管心针16的远端和该工具也位于柔性护套14内,在该工作位置上,该工具在这个护套14外。The drive stylet 16 can adopt two extreme positions, a retracted position in which the distal end of the drive stylet 16 and the tool are also located within the flexible sheath 14 and an operative position in which On, the tool is outside this sheath 14.
根据一个实施例,手柄15被设计成使得当没有力施加于该手柄上时传动管心针16处于缩回位置上。According to one embodiment, the handle 15 is designed such that the drive stylet 16 is in the retracted position when no force is applied to the handle.
手柄15此外具有用于将柔性提取器11连接至所述加强装置12的连接用具13的一部分。为此目的,手柄的远侧部分17具有纵向狭缝19,以下更详细解释了该纵向狭缝的用途。手柄15还具有弹性接片20,每个弹性接片设有突耳21。The handle 15 also has a part of a connection means 13 for connecting the flexible extractor 11 to said strengthening device 12 . For this purpose, the distal part 17 of the handle has a longitudinal slit 19, the purpose of which is explained in more detail below. The handle 15 also has elastic tabs 20 each provided with a lug 21 .
根据一个实施例,传动管心针16的近端不可拆卸地固定到手柄15。考虑到传动管心针16的柔性,可以使用不可拆卸紧固。然而,这个管心针必须被选择成使得当该手柄从缩回位置移动到工作位置时该管心针弯曲,而同时在到手柄的紧固区域中折叠。According to one embodiment, the proximal end of the drive stylet 16 is non-detachably secured to the handle 15 . Given the flexibility of the drive stylet 16, non-removable fastenings may be used. However, this stylet must be chosen such that it bends when the handle is moved from the retracted position to the working position, while at the same time folding in the fastening area to the handle.
在一个实施例中,柔性护套14的长度使得柔性提取器11可以与常规器具、特别是与肾镜或柔性内窥镜一起使用。这个长度通常在40cm与120cm之间。In one embodiment, the length of the flexible sheath 14 is such that the flexible extractor 11 can be used with conventional instruments, in particular with nephroscopes or flexible endoscopes. This length is usually between 40cm and 120cm.
加强装置12实质上包括刚性管22、转向构件23、和用于将柔性提取器11连接至所述加强装置12的连接用具13的一部分。刚性管22具有内部通道24,该内部通道具有的直径使得柔性提取器11的柔性护套14可以引入其中。这个刚性管22有利地具有与传统使用的刚性肾镜相对应的大小。对于1mm与6mm之间的内径而言,该刚性肾镜的长度通常在20cm与40cm之间。该刚性管可以由金属或由聚合物制成,该金属是例如医疗级不锈钢,诸如316型钢或合适的合金,该聚合物例如是以碳纤维、玻璃纤维或凯夫拉(Kevlar)加强的聚合物。也可以使用其他合适的材料。The strengthening device 12 essentially comprises a rigid tube 22 , a diverting member 23 , and a part of connection means 13 for connecting the flexible extractor 11 to said strengthening device 12 . The rigid tube 22 has an internal passage 24 having a diameter such that the flexible sheath 14 of the flexible extractor 11 can be introduced therein. This rigid tube 22 is advantageously of a size corresponding to conventionally used rigid nephroscopes. The length of the rigid nephroscope is typically between 20 cm and 40 cm for an inner diameter between 1 mm and 6 mm. The rigid tube may be made of metal such as medical grade stainless steel such as Type 316 steel or a suitable alloy, or of a polymer such as a polymer reinforced with carbon fiber, glass fiber or Kevlar . Other suitable materials may also be used.
在所展示的一个实施例中,转向构件23由环、具有的大小足以允许柔性提取器11的护套14通过的内部通道24形成。In one embodiment shown, the diverting member 23 is formed by a ring, an internal channel 24 of sufficient size to allow the passage of the sheath 14 of the flexible extractor 11 .
当转向构件23具有圆形形状时,环的长度、或该转向构件的周长基本上等于刚性管22的长度与柔性护套14的长度之间的差,如以下更详细解释的。When the diverting member 23 has a circular shape, the length of the ring, or the circumference of the diverting member, is substantially equal to the difference between the length of the rigid tube 22 and the length of the flexible sheath 14, as explained in more detail below.
如图3至图5中所展示的,转向构件23具有准许进出内部通道24的盖件25。这使得更容易将柔性护套14放入这个转向构件23中。As illustrated in FIGS. 3-5 , the steering member 23 has a cover 25 that permits access to and from the interior passage 24 . This makes it easier to place the flexible sheath 14 in this steering member 23 .
根据一个实施例,转向构件23具有的厚度和位置使得这个构件的一部分可以放置在手柄15的纵向狭缝19中。应注意,这个转向构件可以放置在与手柄15分离开的位置上,使得这两个元件不相互接触。According to one embodiment, the steering member 23 has a thickness and a position such that a part of this member can be placed in the longitudinal slot 19 of the handle 15 . It should be noted that this steering member can be placed in a position separate from the handle 15 so that the two elements do not come into contact with each other.
加强装置12具有刚性管22固定在其中的固持构件26。这个固持构件26设有凹口27,这些凹口被设计成用于与手柄15的突耳21协作。The stiffener 12 has a retaining member 26 in which the rigid tube 22 is secured. This holding member 26 is provided with notches 27 designed to cooperate with the lugs 21 of the handle 15 .
本领域的技术人员众所周知的是,外科医生寻求从患者中清除异物,特别是从患者的肾中清除结石,他可以使用被称为以上已经提到的经皮肾镜取石术的技术。在这种技术中,形成通过患者背部到肾的通道,可以从肾中清除结石。在大多数情况下,外科医生使用刚性肾镜触及大致位于肾镜的延续部分中的结石。对于位于除了肾镜的延续部分外的其他地方的结石,例如,在肾的其他肾盏中,外科医生使用柔性肾镜。It is well known to those skilled in the art that a surgeon seeking to remove foreign bodies from a patient, in particular stones from a patient's kidney, may use the technique known as percutaneous nephrolithotomy already mentioned above. In this technique, a passage is made through the patient's back to the kidney and stones can be removed from the kidney. In most cases, the surgeon uses a rigid nephroscope to palpate the stone approximately in the continuation of the nephroscope. For stones located elsewhere than in the continuation of the nephroscope, for example, in the other calyces of the kidney, the surgeon uses a flexible nephroscope.
根据本披露,提取装置10可以首先用作常规刚性肾镜。为此,柔性护套14首先被引入转向构件23的内部通道24中。为了这样做,柔性护套可以简单地被推入转向构件23中,其形状使得该护套不直接进入刚性管22,而是在从内部通道24中露出并进入刚性管22之前首先通入这个通道中。如果转向构件23具有盖件25,如果必要的话,可以可选地移除该盖件以方便放置柔性护套14。According to the present disclosure, extraction device 10 may first be used as a conventional rigid nephroscope. To this end, the flexible sheath 14 is first introduced into the inner channel 24 of the steering member 23 . In order to do this, the flexible sheath can simply be pushed into the steering member 23, shaped so that the sheath does not enter the rigid tube 22 directly, but first passes into this tube before emerging from the inner channel 24 and into the rigid tube 22. channel. If the steering member 23 has a cover 25, this can optionally be removed to facilitate placement of the flexible sheath 14, if necessary.
这个柔性护套14接着被推入其极端位置,在该位置上,放置在柔性提取器11的传动管心针16的末端处的工具安排在刚性管22的自由端附近。This flexible sheath 14 is then pushed into its extreme position in which the tool placed at the end of the drive stylet 16 of the flexible extractor 11 is arranged near the free end of the rigid tube 22 .
在这个位置上,形成连接用具13的不同部件以这样的方式接合以保持柔性提取器刚性地连接至该加强装置。更确切地,加强装置12的转向构件23接合在柔性提取器的手柄15的纵向狭缝19中。手柄15的弹性接片20上形成的突耳21接合在固持构件26的凹口27中。以此方式,柔性提取器11和加强装置12刚性地相连接并且能以与常规刚性提取器相同的方式使用。手柄15的致动具有移动传动管心针16的效果,这准许致动安排在这个传动管心针的末端处的工具。手柄15的弹性使得,在没有力施加于这个手柄上时,该工具安排在柔性护套14内并且在刚性管22内。In this position, the different parts forming the connection means 13 engage in such a way as to keep the flexible extractor rigidly connected to the strengthening means. More precisely, the diverting member 23 of the strengthening device 12 engages in the longitudinal slit 19 of the handle 15 of the flexible extractor. The lug 21 formed on the elastic tab 20 of the handle 15 engages in the notch 27 of the holding member 26 . In this way, the flexible extractor 11 and the stiffening means 12 are rigidly connected and can be used in the same way as conventional rigid extractors. Actuation of the handle 15 has the effect of moving the drive stylet 16 , which permits actuation of a tool arranged at the tip of this drive stylet. The elasticity of the handle 15 is such that, when no force is exerted on this handle, the tool is arranged within the flexible sheath 14 and within the rigid tube 22 .
当外科医生想要在柔性肾镜中使用提取装置10时,他将弹性接片20舒展开,这具有将突耳21从固持构件26中释放的效果。该外科医生从手柄15的纵向狭缝19中移除转向构件23并从刚性管22中拉出柔性护套14。在这种构型下,接着可以使用柔性护套14的整个长度,由此使得可以将这个提取器11与常规柔性肾镜一起使用。When the surgeon wants to use the extraction device 10 in a flexible nephroscope, he unrolls the elastic tab 20 , which has the effect of releasing the lug 21 from the holding member 26 . The surgeon removes the steering member 23 from the longitudinal slot 19 of the handle 15 and pulls the flexible sheath 14 from the rigid tube 22 . In this configuration, the entire length of the flexible sheath 14 can then be used, thereby making it possible to use this extractor 11 with conventional flexible nephroscopes.
如果外科医生想要将处于其构型的提取装置10作为刚性提取器再次使用,其足以将柔性护套14重新引入转向构件23中并且将这个转向构件23重新定位在手柄15的纵向狭缝19中并且将突耳21重新定位在固持构件26上。If the surgeon wishes to reuse the extraction device 10 in its configuration as a rigid extractor, it is sufficient to reintroduce the flexible sheath 14 into the steering member 23 and reposition this steering member 23 in the longitudinal slit 19 of the handle 15 and reposition the lug 21 on the retaining member 26.
本披露因此使得在单个提取装置中可获得与柔性肾镜相对应的构型和与刚性肾镜相对应的构型。在一个实施例中,这个装置总体上是可逆的,这允许外科医生在任何时刻选择最适合于情形的构型。根据本披露的装置还以这样的方式确定尺寸,使得与常规柔性或刚性肾镜的尺寸相对应,这意味着根据本发明的装置可以与常规器具一起使用,而一方面不必开发其他器具,并且另一方面,外科医生不必熟悉其他器械或其他工作方式。然而,可以提供不具有转向构件23的提取装置。在这种情况下,根据本发明的装置的长度在其柔性构型和在其刚性构型下基本上相同。The present disclosure thus makes available in a single extraction device a configuration corresponding to a flexible nephroscope and a configuration corresponding to a rigid nephroscope. In one embodiment, the device is generally reversible, which allows the surgeon at any time to choose the configuration that best suits the situation. The device according to the present disclosure is also dimensioned in such a way as to correspond to the dimensions of conventional flexible or rigid nephroscopes, which means that the device according to the invention can be used with conventional instruments without having to develop other instruments on the one hand, and Surgeons, on the other hand, don't have to be familiar with other instruments or other ways of working. However, it is possible to provide the extraction device without the diverting member 23 . In this case, the length of the device according to the invention is substantially the same in its flexible configuration and in its rigid configuration.
在所示实例中,连接用具13具体由手柄15和转向装置23形成。这个手柄和这个转向装置还可以彼此独立并且不形成该连接用具的一部分。In the example shown, the connection means 13 is formed in particular by the handle 15 and the steering device 23 . The handle and the steering device may also be independent of each other and not form part of the connected appliance.
还可以使用不可逆连接用具。在这种情况下,该连接用具可以例如在断开区断开以便将该加强装置与该柔性提取器分离开,而没有将该加强装置重新连接至这个柔性提取器的任何可能性。Irreversible linking devices can also be used. In this case, the connection means can be broken eg at a disconnection zone in order to separate the reinforcing means from the flexible extractor without any possibility of reconnecting the reinforcing means to the flexible extractor.
本披露描述了从患者的肾中清除结石的用途。相同的原理可以应用于从患者中清除的其他异物。The present disclosure describes the use to remove stones from a patient's kidney. The same principle can be applied to other foreign bodies removed from patients.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910985720.0A CN110604537B (en) | 2014-10-14 | 2015-10-09 | Reinforcement device cooperating with a flexible extractor for extracting foreign bodies from a patient |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP14306628.0A EP3009085A1 (en) | 2014-10-14 | 2014-10-14 | Extraction device for removing foreign body from a patient |
| EP14306628.0 | 2014-10-14 | ||
| PCT/EP2015/073387 WO2016058929A1 (en) | 2014-10-14 | 2015-10-09 | Extraction device for extracting a foreign body from a patient |
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| CN201910985720.0A Division CN110604537B (en) | 2014-10-14 | 2015-10-09 | Reinforcement device cooperating with a flexible extractor for extracting foreign bodies from a patient |
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| CN106794020A CN106794020A (en) | 2017-05-31 |
| CN106794020B true CN106794020B (en) | 2019-10-18 |
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| CN201910985720.0A Expired - Fee Related CN110604537B (en) | 2014-10-14 | 2015-10-09 | Reinforcement device cooperating with a flexible extractor for extracting foreign bodies from a patient |
| CN201580055455.6A Expired - Fee Related CN106794020B (en) | 2014-10-14 | 2015-10-09 | Extraction device for extracting foreign bodies from patients |
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| CN201910985720.0A Expired - Fee Related CN110604537B (en) | 2014-10-14 | 2015-10-09 | Reinforcement device cooperating with a flexible extractor for extracting foreign bodies from a patient |
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| EP (3) | EP3009085A1 (en) |
| JP (2) | JP6673911B2 (en) |
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| EP3706619B1 (en) | 2017-11-09 | 2024-04-24 | ConvaTec Technologies Inc. | Ostomy monitoring system |
| USD893514S1 (en) | 2018-11-08 | 2020-08-18 | 11 Health And Technologies Limited | Display screen or portion thereof with graphical user interface |
| EP4228563A1 (en) | 2020-10-15 | 2023-08-23 | ConvaTec Technologies Inc. | Ostomy systems and methods |
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- 2015-10-09 JP JP2017519896A patent/JP6673911B2/en active Active
- 2015-10-09 EP EP15778928.0A patent/EP3206598B1/en active Active
- 2015-10-09 CN CN201910985720.0A patent/CN110604537B/en not_active Expired - Fee Related
- 2015-10-09 EP EP18175116.5A patent/EP3400889B1/en active Active
- 2015-10-09 ES ES15778928T patent/ES2716943T3/en active Active
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| US5741286A (en) * | 1996-06-07 | 1998-04-21 | Symbiosis Corporation | Laparoscopic instrument kit including a plurality of rigid tubes |
Also Published As
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| JP6673911B2 (en) | 2020-03-25 |
| JP2020089760A (en) | 2020-06-11 |
| JP2017530820A (en) | 2017-10-19 |
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| US11317932B2 (en) | 2022-05-03 |
| CN110604537A (en) | 2019-12-24 |
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| ES2776409T3 (en) | 2020-07-30 |
| CN110604537B (en) | 2022-01-25 |
| EP3206598A1 (en) | 2017-08-23 |
| US20170303943A1 (en) | 2017-10-26 |
| EP3400889A1 (en) | 2018-11-14 |
| ES2716943T3 (en) | 2019-06-18 |
| EP3206598B1 (en) | 2018-12-26 |
| EP3400889B1 (en) | 2019-12-18 |
| WO2016058929A1 (en) | 2016-04-21 |
| EP3009085A1 (en) | 2016-04-20 |
| US10499938B2 (en) | 2019-12-10 |
| US20200078030A1 (en) | 2020-03-12 |
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